CN114383852A

CN114383852A - Testing device for automatic synchronous collection and clamping of attitude and orbit control engine product

Info

Publication number: CN114383852A
Application number: CN202111669088.2A
Authority: CN
Inventors: 钟玮; 蒲爱香; 彭中伟; 苏晨; 赵彪; 卢海龙; 杨康康
Original assignee: Xian Aerospace Propulsion Institute
Current assignee: Xian Aerospace Propulsion Institute
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-22
Anticipated expiration: 2041-12-31
Also published as: CN114383852B

Abstract

The invention discloses a test device for automatic synchronous collecting and clamping of attitude and orbit control engine products, which comprises an automatic synchronous collecting device and a robot automatic system, wherein the automatic synchronous collecting device comprises a base and a clamping device; the automatic synchronous collecting device comprises a cabinet body, a process system, a tool pressing mechanism, a plurality of sets of connecting rod devices, a rotary dividing disc and a lifting cylinder; the automatic robot system and the automatic synchronous collecting device are arranged in parallel, the automatic robot system comprises a box body and six robots arranged on the box body, a plurality of pairs of guiding and positioning slide rails are arranged on a mounting plate, and each pair of guiding and positioning slide rails are used for placing a material tray. The automatic synchronous collecting device realizes automatic collection, automatic grabbing and weighing and data uploading of the porous jet flow; meanwhile, automatic identification and input of product codes and automatic butt joint of upper and lower tools are realized through a robot automation system, so that the test efficiency is effectively improved, the accuracy and stability of test data are improved, and the operation intensity is reduced.

Description

Testing device for automatic synchronous collection and clamping of attitude and orbit control engine product

Technical Field

The invention belongs to the technical field of synchronous collection and automatic clamping of micro flow of aerospace engine products, and particularly relates to a test device for automatic synchronous collection and clamping of attitude and orbit control engine products.

Background

The attitude and orbit control is a typical series of aerospace engine products, specific products of the aerospace engine products comprise a thrust chamber, a head, an injector and the like, and the products can be subdivided into different sub-series according to the difference of engine models. Among these, the porous collection and weighing device is mainly aimed at heads, thrust chambers and injectors, etc. in attitude and orbit control engine products, which are used to perform the liquid porous collection and weighing part of the "percent coolant test" shown in table 1, which is a necessary test item for such products.

At present, the traditional technical method for automatically and synchronously collecting and weighing the porous jet flow is a timing and weighing method combining stopwatch timing and manual collection of test media, and the collection of the porous jet flow of the product takes a lot of time. During testing, a tested product is manually picked up, the number and letter combination codes representing product information are manually recorded and engraved on the surface of the product, after recording is completed, the tested product is manually placed in a testing tool, and due to the fact that the upper tool and the lower tool are connected through bolts, operation is complex, and efficiency is low. After the tool is in place, a test process system is manually started, a valve is manually adjusted to reach process parameter indexes, after a rated working condition is reached, testers manually receive jet flow of each hole, a stopwatch is operated to time, collected single-hole jet flow is connected into a collection test tube and then weighed through a high-precision electronic scale to obtain a collection mass, and finally the flow of each hole is obtained through calculation according to the collection mass and the jet flow time.

TABLE 1 percent Coolant test

The whole test process needs to measure the flow hole by hole, and each hole needs to be collected twice, so that the whole test time is longer; because manual collection is adopted, the requirement on manual skillful reading is high; because the manual meter reading and timing result in the measurement error is big, need to increase the measurement number of times and dispel the error influence, has increased the test time again; the target of receiving all the holes simultaneously cannot be realized due to the lack of a test platform; when some of the jetted water media are accidentally hung on the collecting test tube during the initial process parameter adjustment, the final data result deviation can also be caused; and with the rapid increase of the batch production quantity of the shaped products, the overall test time is long, the measurement error is large, the test efficiency is low, and the manual labor is insufficient, so that the traditional method can not meet the test requirements of the products. In order to improve the current situation, it is necessary to design a product testing apparatus capable of realizing automation so as to improve the testing efficiency and reliability.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, an object of the present invention is to provide a testing apparatus for automatically and synchronously collecting and clamping an attitude and orbit control engine product.

In order to achieve the purpose, the invention adopts the following technical scheme to solve the problem:

a test device for automatic synchronous collecting and clamping of attitude and orbit control engine products comprises an automatic synchronous collecting device and a robot automatic system; wherein:

the automatic synchronous collecting device comprises a cabinet body, a process system, a tool pressing mechanism, a plurality of sets of connecting rod devices, a rotary dividing disc and a lifting cylinder; wherein: the process system is arranged in the cabinet body, and the tool pressing mechanism is arranged on the cabinet body through a Z-direction manual translation mechanism and is positioned right above the rotary dividing plate; the lower end of the tool pressing mechanism is provided with a test tool; a piston rod of the lifting cylinder upwards penetrates through the rotary indexing disc, and a hollow shaft seat capable of rotating around the piston rod is mounted at the upper end of the piston rod through a bearing; the rotary indexing disc is arranged on an I-shaped mounting plate on the cabinet body, the center of the upper end face of the rotary indexing disc is provided with a hole and can rotate at a fixed angle relative to the lower part, a piston rod of a lifting cylinder positioned in the I-shaped mounting plate upwards penetrates through the rotary indexing disc, and a hollow shaft seat capable of rotating around the piston rod is arranged at the upper end of the piston rod through a bearing; the multiple sets of connecting rod devices are uniformly and circumferentially arranged on the upper end surface of the rotary indexing disc, and the upper half parts of the connecting rod devices are fixed on the hollow shaft seat; each set of connecting rod device is provided with a collecting pipe mounting rack; the upper end of the hollow shaft seat is coaxially provided with a detachable collecting cup with openings at two ends, the opening at the lower end of the collecting cup is connected to the water tank, and strip-shaped gaps with the same number as the tangential holes at the bottom of the product to be tested are uniformly distributed on the upper half part of the collecting cup along the circumferential surface;

the robot automatic system and the automatic synchronous collecting device are arranged in parallel, the robot automatic system comprises a box body and six robots arranged on the box body, and a mounting plate is arranged above the box body; a plurality of pairs of guiding and positioning slide rails are mounted on the mounting plate, and an area between each pair of guiding and positioning slide rails is used for placing a material tray; the guide positioning slide rail comprises a rail and a plurality of rolling bearings which are uniformly distributed on the rail; a limiting plate is arranged on the mounting plate between each pair of guiding and positioning slide rails; the robot automation system further comprises a code recognition system and a gripper quick-change system which are fixed on the mounting plate.

Further, the tool pressing mechanism is installed on the transverse installation plate of the cabinet body through a Z-direction manual translation mechanism, and the tool pressing mechanism can move along the vertical direction under the driving of the Z-direction manual translation mechanism.

Further, the tool pressing mechanism comprises an electric cylinder/air cylinder, an air cylinder mounting plate, a guide rod, an adapter plate and an integrated tool, wherein the integrated tool is fixed on the Z-direction manual translation mechanism, the electric cylinder/air cylinder is mounted at the upper end of the integrated tool through the air cylinder mounting plate, the guide rod is mounted below the electric cylinder/air cylinder and fixed on the integrated tool, the lower end of an extension rod of the electric cylinder/air cylinder is fixedly connected with the adapter plate, and the adapter plate is movably mounted on the guide rod; and a test tool is arranged below the adapter plate.

Further, the test tool is composed of a tool upper portion and a tool lower portion, a sealing ring and a matched assembling step are arranged on the contact surfaces of the tool upper portion and the tool lower portion, the tool upper portion is fixedly connected to the lower end of the adapter plate, the tool lower portion is installed on the integrated tool, and a hole is formed in a bottom plate of the tool lower portion.

Furthermore, the bottom of the lower part of the tool is designed into different thickness specifications according to different specifications of products to be tested.

Furthermore, an X-direction automatic translation mechanism is installed on a transverse installation plate of the cabinet body, and the rotary gripper is installed on the X-direction automatic translation mechanism through the Z-direction automatic translation mechanism.

Further, the process system comprises a water tank, a plunger pump, a pulsation attenuator, a ball valve and a flowmeter, wherein the plunger pump, the pulsation attenuator, the ball valve and the flowmeter are connected with an upper computer; the inlet of the plunger pump is connected with the water tank, and a pulsation attenuator, a ball valve and a flowmeter are installed on the outlet pipeline of the plunger pump.

Furthermore, the code recognition system comprises a three servo modules arranged on the mounting plate, a rotating shaft in front of the three servo modules, a light source and a telecentric lens which are arranged on the three servo modules, and a rotating tool which is detachably arranged on the rotating shaft through a positioning pull pin; the rotating shaft is driven to rotate by a motor.

Further, the gripper quick-change system comprises a quick-change male head, a plurality of same quick-change female heads, a plurality of types of grippers and a plurality of quick-change frames, wherein the quick-change male head is matched with the quick-change female heads; each quick-change female head is used for fixing different types of grippers, and the grippers are integrally placed on the quick-change frame after being fixed.

Further, a protection device is installed outside the robot automation system, and the protection device comprises a profile frame; the section bar frame is provided with a transparent acrylic panel; and a cantilever operation screen connected with an upper computer is installed at the top of the section bar frame.

Compared with the prior art, the invention has the following technical effects:

1. the automatic synchronous collecting device realizes automatic collection, automatic grabbing and weighing and data uploading of the porous jet flow; meanwhile, automatic identification and input of product codes and automatic butt joint of upper and lower tools are realized through a robot automation system, so that the test efficiency is effectively improved, the accuracy and stability of test data are improved, and the operation intensity is reduced.

2. In the automatic synchronous collecting device, a process system provides a stable water source meeting requirements for tested products through a plunger pump, the automatic adjustment of process parameters with micro flow of 10g/s or below is realized by adopting a pump pressure principle, and the control of stable working conditions is realized. Meanwhile, multi-hole automatic synchronous collection is realized by arranging the rotary indexing disc, the lifting cylinder and the plurality of sets of connecting rod devices and the plurality of collecting pipes on the rotary indexing disc, the quantity of the collecting pipes and the connecting rod devices is the minimum common multiple of the quantity of hole sites to be subjected to cooling liquid collection at the bottom of the circumferential direction of the product, and the collecting pipes corresponding to the quantity of the hole sites are respectively installed according to the quantity of the hole sites of the product, so that the device has universality. The invention realizes the aim of synchronously measuring the flow in the same time of all hole sites of a single product to be tested, avoids the problem of asynchronous time when manual single-hole successive collection is carried out, greatly improves the test efficiency and simultaneously reduces the working strength of testers. The repeatability test of the same product is utilized, and the comparison is approximately consistent with the comparison of the original manual method; a plurality of product comparison tests are approximately consistent with the comparison of the original manual method; the practical test of a certain product proves that after the device is adopted, the number of test operators can be reduced to 1, the test time is shortened by nearly 60%, and the test efficiency is improved by nearly more than 10 times.

3. Through the cooperation of X to automatic translation mechanism, Z to automatic translation mechanism, rotatory tongs for the configuration of automatic synchronization collection device, realize snatching the collecting pipe and carry out the action of weighing, high accuracy electronic balance uploads real-time data to the host computer in automatically, treats after receiving the test result, rotatory 180 of rotatory tongs, in the automatic water tank of pouring into of the intraductal liquid of collecting that will weigh the completion, rotatory normal position again, place the collecting pipe back to initial position. The automatic weighing, emptying and data uploading functions of the liquid in the collecting pipe are realized.

4. The tool is designed to reduce the phenomenon of water wall hanging due to the fact that the tool is designed to be structurally designed like the collecting cup and the lower portion of the tool and the inner wall of the collecting pipe is treated, synchronous collection is achieved, and accuracy of results is guaranteed.

5. Through the arrangement of six-axis robots of a robot automation system and the arrangement of guide positioning slide rails and material trays,

6. the robot automation system 2 further comprises a code recognition system, code character information on the circumferential direction of the product is collected, and character data in the product are extracted through an image recognition algorithm in the upper computer, so that automatic code recognition and entry functions are achieved.

7. Through tongs quick change system on the robot automation system, can need the terminal tongs of quick replacement robot according to the type of product, improve work efficiency.

8. According to the type or specification requirement of the product, parts with different specifications such as a collecting cup, a gripper and the like are arranged, so that the device is high in universality and can be suitable for products to be tested with different specification requirements.

Drawings

FIG. 1 is a schematic structural diagram of a test apparatus for automated simultaneous collection and clamping of attitude and orbit control engine products of the present invention.

FIG. 2 is a schematic front view of an automated synchronous collection device;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a front view of a process system;

FIG. 5 is a left side view of FIG. 4;

fig. 6 is a schematic structural view of a pneumatic tool pressing mechanism, wherein (a) is the pneumatic tool pressing mechanism, and (b) is a partially enlarged view;

FIG. 7 is a schematic view of the mounting of the rotary indexing disk and the collection cup; wherein, (a) the collecting pipe is in an inclined state, (b) the collecting cup is, and (c) the collecting pipe is in a vertical state;

FIG. 8 is a partial enlarged view of the lift cylinder;

FIG. 9 is a top view of the linkage arrangement;

FIG. 10 is a schematic diagram of a robotic automation system;

fig. 11 is a schematic structural view of a quick-change system;

fig. 12 is a schematic structural view of the guard.

The reference numerals in the figures have the following meanings:

1. the automatic synchronous collecting device comprises an automatic synchronous collecting device, 101, a cabinet body, 102, a tool pressing mechanism, 103, a rotary dividing disc, 104, a lifting cylinder, 105, a connecting rod device, 106, a Z-direction manual translation mechanism, 107, an X-direction automatic translation mechanism, 108, a Z-direction automatic translation mechanism, 109, a rotary gripper, 110, a high-precision electronic balance, 111, a test tool, 112, a collecting cup, 113, a collecting pipe, 114, a water tank, 115, a movable leg, 116, a fixed leg, 117, a hollow shaft seat, 118, a display, 119, a keyboard box, 120, a plunger pump, 121, a pulsation attenuator, 122, a flowmeter, 123, a ball valve, 124, a transverse mounting plate, 125 and an I-shaped mounting plate; 126. the device comprises an electric cylinder/air cylinder 127, an air cylinder mounting plate 128, a guide rod 129, an adapter plate 130 and an integrated tool; 131. a manual rocker 132, a screw nut 133, a guide rail bracket 134 and a guide sliding block; 135. the upper part of the tool 136, the lower part of the tool 137 and the product;

2. the robot comprises a robot automation system, 201, a six-axis robot, 202, a visual positioning system, 204, a tail end gripper, 205, a quick-change female head, 207, a quick-change male head, 208, a gripper, 209, a quick-change frame, 210, a box body, 211, a heavy foot, 212, a roller, 213, a material tray, 214, an unidentified material tray, 215, a guiding and positioning slide rail, 216, a limiting plate, 217, a positioning pull pin, 218, a rotating shaft, 219, a light source, 220, a telecentric lens, 221, a servo three-module, 222, a supination visual identification system, 223, an RFID system, 224, a mounting plate, 225, a waterproof joint, 226 and a rotating tool;

3. the safety door control switch comprises a protection device 301, a rocker arm display screen 302, a section bar frame 303, an acrylic plate 304, a supporting foot cup 305 and a safety door control switch.

The invention is further explained below with reference to the drawings and the detailed description.

Detailed Description

As shown in fig. 1, the test device for automatic synchronous collecting and clamping of attitude and orbit control engine products, provided by the invention, comprises an automatic synchronous collecting device 1 and a robot automation system 2; wherein:

as shown in fig. 2, the automatic synchronous collecting device 1 comprises a cabinet body, a process system, a tool pressing mechanism, a plurality of sets of connecting rod devices, a rotary dividing disc, a lifting cylinder and a weighing mechanism; wherein:

the cabinet body 101 is used for providing an installation space, the tool pressing mechanism, the rotary dividing disc, the lifting cylinder and the weighing mechanism are respectively installed on the cabinet body 101, and the process system is installed in the cabinet body 101;

the tool pressing mechanism 102 is mounted on the transverse mounting plate 124 of the cabinet 101 through the Z-direction manual translation mechanism 106 and is positioned right above the rotary index plate 103, and the tool pressing mechanism 102 can be driven by the Z-direction manual translation mechanism 106 to move in the vertical direction; as shown in fig. 6, the tool pressing mechanism 102 includes an electric cylinder/air cylinder 126, an air cylinder mounting plate 127, a guide rod 128, an adapter plate 129 and an integrated tool 130, wherein the integrated tool 130 is fixed on the Z-direction manual translation mechanism 106, the electric cylinder/air cylinder 126 is mounted at the upper end of the integrated tool 130 through the air cylinder mounting plate 127, the guide rod 128 is mounted below the electric cylinder/air cylinder 126 and fixed on the integrated tool 130, the adapter plate 129 is fixedly connected to the lower end of the extension rod of the electric cylinder/air cylinder 126, and the adapter plate 129 is movably mounted on the guide rod 128 and can move up and down along the guide rod 128 under the action of the extension rod of the electric cylinder/air cylinder 126; the test tool 111 is installed below the adapter plate 129, the test tool 111 is composed of a tool upper portion 135 and a tool lower portion 136, a sealing ring and a matched assembling step are arranged on contact surfaces of the tool upper portion 135 and the tool lower portion 136, the to-be-tested product 137 can be tightly packaged, the tool upper portion 135 is fixedly connected to the lower end of the adapter plate 129, the tool lower portion 136 is installed on the integrated tool 130, and a hole is formed in a bottom plate of the tool lower portion 136, so that the bottom of the to-be-tested product 137 can be conveniently extended downwards. Under this structural design, will treat that the product 137 is placed on frock lower part 136, frock upper portion 135 descends and with frock lower part 136 sealed laminating along the Z under the effect of electric cylinder/cylinder 126, opens process systems's ball valve 123 this moment, can lead to water to experimental frock 111 and test, and process systems's play water gets into in treating the product 137 in it from the inlet tube that sets up on frock upper portion 135. Preferably, the Z-direction manual translation mechanism 106 includes a manual rocker 131, a lead screw nut 132, a guide rail bracket 133 and a guide slider 134, and is used for enabling the integrated tool 130 mounted on the guide slider 134 to move up and down along the Z direction.

The rotary indexing disc 103 is mounted on an i-shaped mounting plate 125 on the cabinet body 101, as shown in fig. 7, a hole is formed in the center of the upper end face of the rotary indexing disc 103 and can rotate at a fixed angle relative to the lower part, a piston rod of the lifting cylinder 104 located in the i-shaped mounting plate 125 upwardly penetrates through the rotary indexing disc 103, and a hollow shaft seat 117 capable of rotating around the piston rod is mounted at the upper end of the piston rod through a bearing; the rotary indexing disc 103 and the lifting cylinder 104 are connected with an upper computer; a plurality of sets of connecting rod devices 105 are uniformly distributed on the upper end face of the rotary indexing disc 103 in the circumferential direction, the upper half parts of the connecting rod devices 105 are fixed on the hollow shaft seat 117, and the hollow shaft seat 117 is driven by the telescopic piston rod to move up and down along the Z direction, so that the posture change of the connecting rod devices 105 is realized; each set of link rod device 105 is provided with a collecting pipe mounting rack for flexibly inserting and placing the collecting pipe 113. Preferably, the collecting pipe 113 is made of organic glass, and a waterproof coating is uniformly distributed on the surface of the collecting pipe, so that the wall hanging phenomenon on the surface of the collecting pipe can be reduced to a greater extent; under the structural design, the rotary indexing disc 103 can drive the connecting rod device 105 to rotate, so that the position adjustment requirement in the processes before and after the test is realized; through adjusting lift cylinder piston rod displacement stroke, can realize collecting pipe 113 free transform at the arbitrary gesture of 90 within ranges, when the piston rod was whole to be withdrawed, collecting pipe 113 axis among each link means 105 was perpendicular with ground and is vertical gesture, when the piston rod was stretched out completely, each collecting pipe 13 axis slope and with the coincidence of product efflux axis (for collecting the gesture this moment), wherein, link means 13's collection state is: the axis of the collection tube 113 coincides with the axis of the product jet, this condition being used for collecting the liquid; and a weighing state when the axis of collection pipe 113 is perpendicular to the ground, which is used for weighing after the liquid collection is completed.

In addition, in order to be able to adapt to a plurality of different specifications of products (which are mainly reflected in the different number of jet holes at the bottom of the products), the number of the link means 105 is designed to be the least common multiple of the number of tangential holes at the bottom of the product 137 to be tested. The number of the test tubes is 24 in the embodiment, and the test tubes can be used for testing products with different specifications of 3 holes, 8 holes and 12 holes.

Meanwhile, the upper end of the hollow shaft seat 117 is provided with a detachable collecting cup 112 with two openings at two ends, the collecting cup 112 and the collecting cup are coaxial (namely coaxial with an extension rod of the electric cylinder/air cylinder 126), the collecting cup 112 is provided with two openings at two ends, the lower opening of the collecting cup is connected to a water tank 114 arranged in the cabinet body 101 through a water pipe and used for guiding effluent at the bottom of the product 137 to be tested and collecting water medium, meanwhile, strip-shaped gaps with the same quantity as tangential holes at the bottom of the product 137 to be tested are uniformly distributed on the upper half part of the collecting cup 112 along the circumferential surface, in order to adapt to tests of products with different specifications, the collecting cup 112 has multiple specifications, the number of the strip-shaped gaps with different specifications is 3, 8 or 12, and therefore, the collecting cup can be flexibly replaced according to the product to be tested.

With the above structure, when the upper surface of the rotary dividing plate 103 rotates at a fixed angle, the multi-set connecting rod device 105, together with the hollow shaft seat 117 and the collecting cup 112, is driven to rotate at a fixed angle. In the debugging process before the test is started, the through holes at the bottom of the product 137 to be tested are all aligned to the non-notch position of the cup wall of the collecting cup 112, and the tangential jet flow emitted by the through holes is blocked so as to flow to the water tank 114 along the inner wall of the collecting cup 112; get into the test process after the debugging finishes, because rotatory graduated disk 103 drives the structure integral rotation certain angle on it for the through-hole of waiting to test product 137 bottom all aims at the cup wall breach department of collecting cup 112, and the efflux jets out and is collected by the collecting pipe 113 of corresponding position department via the breach, realizes the fluidic accuracy of collecting and having guaranteed the result of every through-hole simultaneously. Preferably, the bottom of the lower part 136 of the tool is designed into different thickness specifications according to the specifications of the products 137 to be tested, so that lateral jet holes at the bottoms of the different products 137 to be tested are positioned at the same collecting height, and each jet hole of the products 137 to be tested corresponds to the collecting pipe 113, so that jet flow at each hole of the products 137 to be tested is completely sprayed in the collecting pipe 113, and the accuracy of results is improved.

In order to realize automatic weighing after liquid collection, preferably, as shown in fig. 3, an X-direction automatic translation mechanism 107 is mounted on the transverse mounting plate 124 of the cabinet 101, and the rotary gripper 109 is mounted on the X-direction automatic translation mechanism 107 through the Z-direction automatic translation mechanism 108; the cabinet body 101 is provided with a weighing mechanism (preferably a high-precision electronic balance 110; the X-direction automatic translation mechanism 107 and the Z-direction automatic translation mechanism 108 are used for realizing the movement of the rotary gripper 109 in the X direction and the Z direction, the rotary gripper 109 is used for gripping the collecting pipe 113 and placing the collecting pipe on the weighing mechanism; the weighing mechanism is arranged on one side of the cabinet body 101 and comprises the high-precision electronic balance 110 and a data transmission line which are connected with an upper computer so as to realize the accurate weighing of liquid collected by the collecting pipe; preferably, the X-direction automatic translation mechanism 107 and the Z-direction automatic translation mechanism 108 are both high-precision air cylinders or electric cylinders; and the rotary gripper 109 is a high-precision pneumatic or electric rotary cylinder.

Specifically, the cabinet body 101 is formed by bending, welding and molding a stainless steel plate; the cabinet 101 is fixedly arranged on the ground through a movable anchor 115 and a fixed anchor 116; a display 118 and a keyboard box 119 are mounted on the side face of the cabinet body 101, and the display 118 and the keyboard box 119 are connected with an upper computer.

The process system comprises a water tank 114, a plunger pump 120, a pulsation attenuator 121, a ball valve 123 and a flowmeter 122 which are connected with an upper computer, wherein the water tank 114 is installed at the bottom of the cabinet body 101 and used for providing a water source for the process system and collecting water media flowing down after a test is completed, so that the water media are recycled in a closed loop manner, and an outlet of the water tank 114 is connected with the test tool 111; the inlet of the plunger pump 120 is connected with the water tank 114, the outlet pipeline of the plunger pump 120 is provided with a pulsation damper 121, a ball valve 123 and a flowmeter 122, wherein the plunger pump 120 is used for pumping water into the inlet of the process system, the pulsation damper 121 is used for reducing the vibration influence of the plunger pump 120, the ball valve 123 is used for realizing on-off of a switch, and the flowmeter 122 is used for measuring the real-time flow data of the process system. In conclusion, the process system adopts the pump pressure principle to realize automatic adjustment of process parameters with micro flow within 10g/s and recycling of the test aqueous medium, the pump pressure drives the selective plunger pump to provide constant-flow mode or constant-pressure mode operation, the two working modes can be switched randomly, the upper computer is used for adjusting the rotating speed of the water pump to realize automatic adjustment of the test working condition, and the tested aqueous medium directly flows back to the water tank 114 to realize recycling of the aqueous medium.

As shown in fig. 10, the robot automation system 2 is juxtaposed with the automatic synchronous collecting apparatus 1, and includes a box 210 and a six-axis robot 201 mounted thereon. Wherein the six-axis robot 201 can move in a full degree of freedom within the range of the mounting plate (224). And a mounting plate (224) is arranged above the box body (210), and the mounting plate 211 is used for arranging all parts in the working range of the six-axis robot. The box body 210 is formed by welding square steel and sheet metal parts, and has the advantage of high strength; the box body (210) is arranged on the ground through heavy ground feet (211); in order to facilitate manual pushing and transferring on the flat ground, the bottom of the box body (210) is provided with a roller (212); preferably, the mounting plate (224) is a whole stainless steel plate, and the surface is subjected to chrome plating treatment, so that the mounting plate has the advantages of water resistance and rust resistance; a plurality of waterproof joints (225) are arranged on the mounting plate (224) and used for cable routing of automation equipment on the table top, and the mounting plate has the advantages of attractiveness and waterproofness.

A plurality of pairs of guiding and positioning slide rails (215) are arranged on the mounting plate (224), and the area between each pair of guiding and positioning slide rails 215 is used for placing a material tray 213 (the material trays are divided into several types according to the action, such as a material loading tray, a material unloading tray of qualified products, a material unloading tray of unqualified products or an unidentified material tray 214); the guide positioning slide rail 215 comprises a rail and a plurality of rolling bearings which are uniformly distributed on the rail, and has the advantages of reducing friction resistance and facilitating the sliding of the material tray (213). Preferably, the tray inlet of each pair of guiding and positioning slide rails 215 is conical, so that the tray can enter conveniently; a photoelectric sensor and an RFID system are further installed between each pair of guiding and positioning sliding rails 215, and are respectively used for detecting whether the material tray 213 is in place so as to feed back to the upper computer and detect information (such as product number and date) of the material tray 213. Preferably, a limiting plate (216) is arranged on the mounting plate 224 between each pair of guiding and positioning slide rails 215 and used for limiting the tray (213) after the tray is in place; the material tray (213) is a customized structure which is designed according to the shape of the product to be tested in a nonstandard mode, preferably, the material tray (210) is made of engineering plastics, and the product can be effectively prevented from being damaged.

Preferably, a visual positioning system (202) and a tail end gripper (204) are arranged on the six-axis robot (201), wherein the visual positioning system 202 is used for carrying out more accurate position positioning on the placing hole positions on the material trays 213 on the mounting plate 224; preferably, the mounting plate 224 is mounted with a look-up vision recognition system 222 for recognizing bottom features of the product to ensure that the product is placed in a uniquely determined pose at a specified target point. The vision positioning system (202) and the upward shooting vision recognition system 222 both adopt a vision system, and consist of a camera, a light source, a lens, a controller and a vision algorithm.

Preferably, the robot automation system 2 further comprises a code recognition system, wherein the code recognition system comprises a servo three-module 221 mounted on the mounting plate 224 and a rotating shaft 218 in front of the servo three-module, and further comprises a light source (219) and a telecentric lens (220) mounted on the servo three-module 221 and a rotating tool (226) detachably mounted on the rotating shaft 218 through a positioning pull pin (217); the rotating shaft (218) performs a rotating function by a motor. The rotary tool (226) is designed according to the appearance of a product. In the scheme, a light source (219) and a telecentric lens (220) adjust the height position through a servo three-module 221; the rotary tool (226) is driven by the motor to rotate the rotary shaft 218, so as to drive the product mounted on the rotary tool to rotate. The code character information on the circumferential direction of the product is shot and collected through a telecentric lens (220), and the character data in the product is extracted through an image recognition algorithm in the upper computer, so that the automatic code recognition and input functions are realized.

Preferably, as shown in fig. 11, the robot automation system 2 further includes a quick-change gripper system mounted on the mounting plate 224, the quick-change gripper system includes a quick-change male head 207, a plurality of identical quick-change female heads 205 (preferably four), a plurality of types of grippers 208, and a plurality of quick-change racks 209, wherein the quick-change male head 207 is configured to be mounted at the end of the six-axis robot, and the quick-change male head 207 is matched with the quick-change female head 205; each quick-change female head 205 is used for matching and installing different types of grippers 208, and the quick-change female heads are integrally placed on a quick-change frame 209 after being installed so as to prepare for quickly changing the matched type grippers at any time according to the type requirements of products; preferably, the grip 208 is a multi-finger or contoured finger grip.

In order to provide safety isolation protection for the robot automation system 2, a protection device 3 is installed outside the robot automation system 2. As shown in fig. 12, the protection device 3 comprises a section frame 302, which is built by section bars and has the advantages of simple structure and convenient movement and assembly; the transparent acrylic panel 303 is arranged on the section frame 302, so that the operation condition of equipment can be observed conveniently while safety protection is realized; the section frame 302 is fixed with the ground through a supporting foot cup 304; a cantilever operation screen 702 connected with an upper computer is arranged at the top of the section frame 302, can be manually operated in multiple degrees of freedom, and is used for displaying key parameters, fault information and the like in the test process; to sum up, can effectively realize the man-machine through protector 3 and keep apart, can also protect personnel's safety when making things convenient for artifical observation device running state. The acrylic plate 303 is provided with a safety door control switch 305, when the door is opened in the test process, the current movement can be automatically stopped, and the equipment safety and the personnel safety are effectively protected.

The working process of the test device for automatically and synchronously collecting and clamping the attitude and orbit control engine product comprises the following steps:

step 1, positioning a tail end gripper 204 of a six-axis robot 201 to a specific position of a target material tray, accurately gripping products to be tested one by one according to a row and column sequence, and moving the products to a rotary tool 226 of a code recognition system;

step 2, the code recognition system carries out automatic visual code recognition on products, and products which cannot be recognized are conveyed to unidentified material trays 214 by a six-axis robot; if the identification is successful, executing the step 3;

step 3, the six-axis robot 201 moves the product to the test tool 111 on the automatic synchronous collecting device 2; before moving the product, the six-axis robot 201 can grab the product to the upward shooting vision recognition system 222 to recognize local characteristics and correct the grabbing posture of the tail end of the robot; a vision system can be adopted to detect whether the product on the test tool 111 is installed in place;

step 5, after the products are installed in place, the automatic synchronous collecting device 2 tests the products to be tested, a water test is conducted on the test tool 111, and automatic synchronous collection and weighing are completed;

step 6, after the test of the product to be tested is finished, the product to be tested is grabbed by the six-axis robot 201 and accurately placed on a discharging tray one by one according to the sequence of rows and columns; until the blanking tray is full.

In the process, each module is controlled by the upper computer, the automatic flow control of the product liquid flow test and the collection and processing of test data are completed, the control of carrying out the automatic test on a plurality of products is completed, signal interaction of each part is realized, the pressure, flow and other parameters of the test process are collected, the flow control of the product test is favorably completed, the working condition adjustment and data processing are realized, the automation of the test is realized, the automatic operation and processing of continuously collecting and weighing the porous flow of a plurality of test products are effectively completed, and the accuracy of synchronous collection and collection results is ensured.

The step 5 of testing the product to be tested by the automatic synchronous collecting device 2 specifically comprises the following steps:

step 51, installing a product 137 to be tested on the lower part 136 of the tool, and controlling the electric cylinder/air cylinder 126 by the upper computer to drive the upper part 135 of the tool to descend along the Z direction and be in sealing fit with the lower part 136 of the tool; meanwhile, the collecting cups 112 with the number matched with the number of the product jet holes are arranged on the hollow shaft seat 117;

step 52, the upper computer controls the rotary indexing disc 103 to rotate so that the through holes at the bottom of the product 137 to be tested are all aligned to the non-notch position of the cup wall of the collecting cup 112; the lifting cylinder 104 extends out to drive all the connecting rod devices 105 and the collecting pipes 113 to synchronously act until the connecting rod devices and the collecting pipes 113 completely extend out, and the collecting postures are adopted at the moment, namely the axes of the collecting pipes 113 are coincident with the axes of the product through holes;

step 53, the upper computer starts a ball valve 123 of the process system to test the water flowing through the test tool 111, before the flow provided by the process system reaches a stable state, the water medium does not need to be collected in the period, and the part of liquid flows to the water tank 114 along the opening at the lower end of the collection cup 112; until the output flow of the process system reaches a stable state;

step 54, the upper computer controls the rotary dividing disc 103 to rotate a certain angle (if the product to be measured is 3 holes, 8 holes and 12 holes, the rotation angle is 60 degrees, 22.5 degrees and 15 degrees respectively), so that each through hole of the product is aligned to the cup wall notch of the collecting cup 112, the jet flow of each through hole is jetted into the corresponding collecting pipe 113 through the corresponding notch, the simultaneous collection of the jet flow of each through hole of the product is realized, until the collection time requirement is met, the upper computer sends an instruction, and the process system stops water flowing so as to stop the jet flow;

step 55, the upper computer controls the extension rod of the lifting cylinder 104 to be completely retracted to drive the connecting rod device 105 and the collecting pipe 113 to a weighing posture (namely, the axis of the collecting pipe 113 is vertical to the ground), and at the moment, the synchronous collection of the primary liquid test jet flow is completed;

step 56, the upper computer controls the rotary gripper 109 to grip a collecting pipe 113 under the action of the X-direction automatic translation mechanism 107 and the Z-direction automatic translation mechanism 108, and the collecting pipe is conveyed to a weighing mechanism for weighing; the weighing mechanism uploads the weighing data of the collecting pipe 113 to an upper computer;

57, after receiving the test result, the upper computer sends an instruction to control the rotary gripper 109 to rotate 180 degrees, liquid in the weighed collection pipe 113 is poured into the water tank 114 to be emptied, and then the collection pipe is rotated back to the vertical state and then placed back to the original connecting rod device 105;

and 58, controlling the rotary indexing disc 103 to rotate by a certain angle by the upper computer each time, enabling the unweighted collection tubes 113 to be close to one side of the rotary gripper 109 one by one, and respectively and repeatedly executing the steps 56-57 for each collection tube by the rotary gripper until all the collection tubes 113 are emptied and then are put back to the original position.

Claims

1. A test device for automatic synchronous collecting and clamping of attitude and orbit control engine products is characterized by comprising an automatic synchronous collecting device and a robot automation system; wherein:

2. The testing device for automatically and synchronously collecting and clamping attitude and orbit control engine products according to claim 1, wherein the tooling pressing mechanism is mounted on a transverse mounting plate of the cabinet body through a Z-direction manual translation mechanism, and the tooling pressing mechanism can be driven by the Z-direction manual translation mechanism to move along the vertical direction.

3. The testing device for automatic synchronous collecting and clamping of posture and orbit control engine products as claimed in claim 1, wherein said tooling pressing mechanism comprises an electric cylinder/air cylinder, an air cylinder mounting plate, a guide rod, an adapter plate and an integrated tooling, wherein said integrated tooling is fixed on a Z-direction manual translation mechanism, said electric cylinder/air cylinder is mounted at the upper end of the integrated tooling through the air cylinder mounting plate, said guide rod is mounted below the electric cylinder/air cylinder and fixed on the integrated tooling, the lower end of the extension rod of said electric cylinder/air cylinder is fixedly connected with the adapter plate, said adapter plate is movably mounted on the guide rod; and a test tool is arranged below the adapter plate.

4. The testing device for automatically and synchronously collecting and clamping an attitude and orbit control engine product according to claim 3, wherein the testing tool comprises an upper tool part and a lower tool part, a sealing ring and a matched assembling step are arranged on the contact surface of the upper tool part and the lower tool part, the upper tool part is fixedly connected to the lower end of the adapter plate, the lower tool part is arranged on the integrated tool, and a hole is formed in a bottom plate of the lower tool part.

5. The testing device for automatic and synchronous collecting and clamping of attitude and orbit control engine products according to claim 4, wherein the bottom of the lower part of the tooling is designed into different thickness specifications according to the specifications of products to be tested.

6. The testing device for automatic and synchronous collecting and clamping of attitude and orbit control engine products according to claim 1, wherein an X-direction automatic translation mechanism is mounted on the transverse mounting plate of the cabinet body, and the rotary gripper is mounted on the X-direction automatic translation mechanism through a Z-direction automatic translation mechanism.

7. The testing device for automatic and synchronous collecting and clamping of attitude and orbit control engine products according to claim 1, wherein the process system comprises a water tank, a plunger pump, a pulsation attenuator, a ball valve and a flowmeter, wherein the plunger pump, the pulsation attenuator, the ball valve and the flowmeter are connected with an upper computer, the water tank is arranged at the bottom of the cabinet body, and an outlet of the water tank is connected with a testing tool; the inlet of the plunger pump is connected with the water tank, and a pulsation attenuator, a ball valve and a flowmeter are installed on the outlet pipeline of the plunger pump.

8. The testing device for the automatic synchronous collecting and clamping of the attitude and orbit control engine product according to claim 1, wherein the code recognition system comprises a servo three-module mounted on the mounting plate and a rotating shaft in front of the servo three-module, and further comprises a light source and a telecentric lens mounted on the servo three-module and a rotating tool detachably mounted on the rotating shaft through a positioning pull pin; the rotating shaft is driven to rotate by a motor.

9. The test device for automatically and synchronously collecting and clamping an attitude and orbit control engine product according to claim 1, wherein the grip quick-change system comprises a quick-change male head, a plurality of same quick-change female heads, a plurality of types of grips and a plurality of quick-change racks, wherein the quick-change male head is matched with the quick-change female heads; each quick-change female head is used for fixing different types of grippers, and the grippers are integrally placed on the quick-change frame after being fixed.

10. The testing device for the automatic and synchronous collecting and clamping of attitude and orbit control engine products according to claim 1, wherein a protective device is installed outside the robot automation system, and the protective device comprises a profile frame; the section bar frame is provided with a transparent acrylic panel; and a cantilever operation screen connected with an upper computer is installed at the top of the section bar frame.